No motion when executing trajectories (SDA10F) #343
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Please do not post screenshots of terminals. It's all text, so copy-paste the text from the terminal into your post. Edit your original post using the Additionally, while removing that screenshot of your terminal, add:
And include:
Without that information, we cannot help you. |
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Thanks for the update, but you still don't show verbatim copy-pastes of the console output, nor the exact commands you run. |
inbarbd
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@inbarbd: please post a comment next time you edit your post, as Github does not send out notifications for edits. |
Is this an exact copy-paste of the command you run? If it is, it would appear to be missing Try to use Wireshark to make sure there is actual network traffic between your ROS PC and the FS100. If there is, and you're certain you've actually added
Could you please clarify why you've done this? With a correctly configured and working driver and MoveIt configuration this should not be necessary (it isn't necessary for the Motoman robots I work with). |
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Thank you for the response. The sim argument is config in the launch file to be equal to false. The reason i add -- to jrajectory_exexution.launch.xml --is due to an error in the terminal. I try to run it on two different commuters (ROS-kineck ubuntu 16.4 and ROS-melodic Ubuntu 18.04 and get the same error that led me to fond this solution. Attached to this message the Wiresark file records while try to execute trajectory with moveit. We also try to send trajectory message direct to the controller (from python script not with moveit) and the results are the same - the message send but the robot is not move. Please let me know if you have idea what should be the next step. |
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I've review the first capture: From what I can see in the first capture. @37.985 E-Stop is removed I can see that the robot is not moving throughout the sequence from the Joint Sequence. The SDA10F type robot have 4 control groups (where group 3 and 4 need the same data) and I can see that you are only trying to move one group sending the standard simple message. I believe that you need to use the [ROS_MSG_MOTO_JOINT_TRAJ_PT_FULL_EX = 2016] command and command all 4 joints together. I haven't used a dual robot and don't know the detail on how to make the message switch on the ROS side. Maybe @gavanderhoorn or someone from the community with an SDA robot can confirm and help you out. |
Please tell us about this sort of thing in the future. We cannot guess what you are doing, and changing argument default values makes diagnosing issues much harder if you don't tell us about them.
Which error?
It is not needed if everything is working correctly. The fact you need to add it tells me something is either not correctly configured, or interaction with the driver is not done correctly.
Could you please describe the steps you took which resulted in the 4 wireshark captures you've shared? If you used some code, please show it here. From your minimal descriptions, it's difficult to figure out what you are doing. |
If you need more information please let me know. |
that's great, but please describe how you use the MoveIt RViz plugin. So which buttons do you press, which groups do you select, how do you change the target pose, etc. It's been a long time since I've been able to test with an SDA robot, so I can't be sure whether things are correctly configured to be able to control a single group only. |
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This could be (somehow) related to #251. |
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Thank you for the answer. We also get help from Yaskawa professionals and we preform several changes in the robot controller:
In all this configuration we try to preform the follow steps:
All results was the same as before --> The robot receive the commend but No errors show in the terminal or in the roslogs. Only after upgrading the controller version a new error occur :
No more errors or messages on the telnet connection. This is the wireshark recorded for 3 identical attempts: The Robot still Not move. Do you have any idea what is the next steps in order to control the robot throw the Ethernet connection? |
That's great, but it also makes me hesitant to continue diagnosing here. Trying to figure out a problem like this from two sides without those sides communicating or keeping each other up-to-date is not a good way to approach this. @EricMarcil @ted-miller: are any of you involved here? |
I don't recognise this Please configure your rosconsole configuration to include the node name, so we can see which node prints this error. Add this line to your and try running things again. The log output should now include the name of the node. Please copy-paste everything from the console into a comment here. |
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@gavanderhoorn, I have instructed @inbarbd to use my Windows emulator application to test the robot and MotoROS application without using ROS-I. He is experiencing the same issue (no motion) using the emulator app. I can't find any obvious issues in the Wireshark captures. Given that the emulator application is experiencing the same symptoms, I'm fairly confident that there is a problem with the configuration of the FS100. (Note: There might also be a problem with the ROS setup... but one issue at a time.) This controller has been used for other purposes in the past. It is likely that there is some safety or interlock signal that is left over from a previous application. I have requested that they attempt to program a standard job on the teach pendant to see if motion is being blocked by something else in the sysytem. I have also asked the local Yaskawa rep to look into sending a technician to re-initialize the controller. |
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Thanks for the update @ted-miller. In the future: please post about any interaction like this with users which are not the result of something discussed here, for obvious reasons. Private emails are of course fine -- and in some cases unavoidable -- but it's rather unfortunate if it's not needed. Given what you write, I'm going to put my efforts on hold until we get clarity about the status of the controller @inbarbd is trying to use. |
gavanderhoorn
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gavanderhoorn
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Today, it was discovered that the robot job (INIT_ROS) is setup incorrectly. Their robot job is a non-group job. The motion API will only work if the commanded control groups are sitting on a WAIT command in Inform. Tomorrow they are going to replace the INIT_ROS job and try again. |
ted-miller
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After correcting the INIT_ROS job, the robot is behaving as expected. |
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For future cases: do we know how the Was this a copy-pasta error, a corrupted file or something else? |
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There was an issue with the configuration of the group combinations, so the file from Github wouldn't load. So, the job was manually typed on the pendant as a non-group job. |
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Ah, ok. So the root cause was a problem with the group configuration on the controller then. Thanks for updating the issue. |
hello,
i work with sda10f robot with fs100 controller with the motoman_sda10f_moveit_config.
ros melodic
ubuntu 18.04
the MotoRos has been install and setup by Yaskawa support
software version FS100 - FS3.27.00A(US/FR)-00
when run:
the robot is connected and we can read information from the controller. when move the robot manually with the pendant the robot position is updating in rviz.
when i try to plan and executed , moveit plan the path but the robot is not response. there is NO ERRORS
the only changes we made in the pkg is:
ExecuteTrajectoryActionrelapseMoveGroupExecuteServiceinmove_group.launch<param name="trajectory_execution/execution_duration_monitoring" value="false" />tojrajectory_exexution.launch.xmlmotoman_sda10f_support/sda10f_motion_interface.yamlreon1,2,3,4to0,1,2,3this is what is see in the terminal:
console text
This is the rqt_graph when lunching:
this is the error in the log file:
if anyone have any idea what to do next it will be very helpful. thank you in advance
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